DE102020106090A1 - Parking assistance device - Google Patents

Abstract

A parking assistance device for a vehicle is provided, the parking assistance device containing a first module which is configured to set a path as a movement path on which the vehicle can move to a target position, and to determine movement assistance information for moving the vehicle on the movement path; and a second module configured to execute the parking assist control so that the vehicle moves in accordance with the determined movement assistance information, the second module further configured to stop the vehicle when an occupant performs a first operation before the Vehicle has reached the target position, and execute pause processing for maintaining the movement assistance information

Description

background

Technical area

The disclosure relates to a parking assistance device which is set up for the execution of a parking assistance control for parking a vehicle at a predetermined location or when moving a parked vehicle out of a parking space.

Description of the prior art

Heretofore, there has been proposed a parking assist device which is arranged to detect a peripheral state of a vehicle using peripheral sensors (including a camera and various sensors) installed in the vehicle, and to control the parking assist so that the vehicle moves based on it of the detected peripheral status moves to a target position or moves there (see publication JP 2018-140757 ).

An apparatus disclosed in the above-mentioned document is hereinafter referred to as "prior art apparatus". The prior art device performs parking assist control when a vehicle moves from a parking lot to a lane / lane.

The parking assist control includes a steering angle controller for controlling a steering angle of the vehicle and a vehicle speed controller for controlling a traveling speed of the vehicle. The vehicle speed control includes a driving force controller for controlling a driving force of the vehicle and a braking force controller for controlling a braking force of the vehicle.

When the vehicle moves from the parking lot to a lane by the parking assist control, a driver can operate an accelerator pedal and / or a steering wheel before the vehicle reaches a target position that is a position of the vehicle at a point in time when the vehicle enters the parking lot has left completely. In this case, the vehicle (own vehicle) suddenly drives onto the lane or suddenly changes direction. As a result, there is a likelihood that your own vehicle will get too close to another vehicle moving on the lane. In the prior art apparatus, the aforementioned problem that occurs when the driver performs “an operation other than a brake pedal operation” before the vehicle reaches the target position is not considered.

The present disclosure provides a parking assist device capable of properly executing the parking assist control even if the driver performs a predetermined operation while executing the parking assist control and before the vehicle reaches the target position.

In one or more exemplary embodiments, the parking assist device for a vehicle includes: an information acquisition device configured to acquire information about the vehicle periphery including information about an object present in a peripheral area of the vehicle; a module for determining the movement assistance information that is configured to set a target position when an assistance request is generated, which is a vehicle position at a point in time at which the vehicle has completed parking in a parking lot or leaving the parking lot based on the vehicle peripheral information and which is configured to set a path as a movement path on which the vehicle can move from a current vehicle position to the target position and which is configured to determine the movement assistance information including the steering angle information representing a change in the vehicle steering angle when there is the vehicle moves on the movement path, and the speed information representing a change in vehicle speed when the vehicle moves on the movement path; a parking assist module configured to execute the parking assist control so that the vehicle moves in accordance with the determined movement assist information, the parking assist control including: a steering angle control for changing the vehicle steering angle, a driving force control for controlling a driving force of the vehicle, and a braking force controller for controlling a braking force of the vehicle.

As described above, during the execution of the parking assist control, the driver can perform an operation other than the operation of the brake pedal (e.g., an operation of the accelerator pedal) before the vehicle reaches the target position. In such a case, the vehicle is likely to approach too closely an object (e.g., another vehicle) located in the peripheral area of the vehicle.

In view of the foregoing, the parking assistance module is also set up so that, if an occupant in a first period of time has a different, with respect to a brake pedal, performs predetermined first operation, applies braking force to the vehicle to stop the vehicle, and performs pause processing to maintain the movement assistance information. The first time period is a time period from a first point in time at which the movement assistance information is determined to a second point in time immediately before the vehicle reaches the target position.

According to the configuration described above, the parking assist device stops the vehicle when the occupant performs the predetermined first operation before reaching the target position. Thereby, it is possible to prevent the vehicle from getting too close to an object (three-dimensional object) located in the peripheral area of the vehicle.

In one or more exemplary embodiments, the parking assistance module is configured to notify / inform the occupant of a predetermined resume operation that the occupant must perform to resume the parking assistance control when the pause processing is being carried out. In addition, the parking assistance module is configured to resume the parking assistance control in accordance with the movement assistance information that has been held since the start of the pause processing when the occupant performs the resume operation. In addition, the parking assistance module is configured to delete the movement assistance information retained since the start of the pause processing and to terminate the parking assistance control if the occupant does not carry out the resume operation within a period of time from the notification of the resume operation until a predetermined time threshold value has expired.

According to the above configuration, even if the parking assist control is stopped, the occupant executes the resume operation to thereby resume the parking assist control in accordance with the movement assist information that has been held since the start of the pause processing. Meanwhile, by the time the pause processing for the parking assist control is started, the occupant may not want to execute the parking assist control after that. If the occupant does not perform the resume operation, the parking assist control is terminated and the occupant can drive the vehicle by his / her operation.

In one or more exemplary embodiments, the parking assistance module is set up so that, if the occupant performs a predetermined second operation in a second time span from a point in time at which the vehicle has reached the target position until a predetermined time has elapsed, the parking assistance control is carried out at the same time Time ended at which the occupant performs the second operation. Furthermore, the parking assistance module is set up so that, if the occupant does not perform the second operation in the second time period, the parking assistance control ends at a point in time at which the second time period has expired.

According to the above configuration, in the second period of time when and after the vehicle reaches the target position, the parking assist control is terminated at the point in time at which the occupant performs the second operation. Therefore, it is possible to immediately hand over the driving operation of the vehicle to the occupant at the point in time when the occupant is performing the second operation. Even if the occupant does not perform the second operation, it is possible to hand over the driving operation of the vehicle to the occupant at the time when the second period has elapsed.

In one or more exemplary embodiments, the parking assistance module is set up to determine that the occupant performs the first operation if the occupant operates an accelerator pedal in the first time period. Furthermore, the parking assistance module is set up to determine that the occupant performs the second operation if the occupant operates the accelerator pedal or brake pedal in the second period of time.

When the occupant depresses the accelerator pedal in the first period of time until the vehicle has reached the target position, the speed of the vehicle is increased. There is thus a high possibility that the vehicle will approach too closely an object located in the peripheral area of the vehicle. According to the above configuration, in the above situation, the parking assist control is paused and the vehicle is stopped. Therefore, it is possible to prevent the vehicle from getting too close to an object located in the peripheral area of the vehicle.

If the occupant operates the accelerator pedal or the brake pedal when or after the vehicle has reached the target position, it is assumed that the occupant can drive the vehicle immediately by his / her operation. According to the above configuration, the parking assist control is terminated in the above situation, thereby to immediately hand over the driving operation of the vehicle to the occupant.

According to one or more exemplary embodiments, one or more of the aforementioned modules are implemented by a microprocessor that is programmed to carry out one or more of the operations and / or functions described here. In addition, one or more of the modules can be implemented in whole or in part by a special hardware configuration (for example by one or more application-specific integrated circuits or ASIC (s)).

In the above description, for a better understanding of the present disclosure, a designation and / or a reference symbol that is used in one or more exemplary embodiments described below is placed in brackets and assigned to each of the constituent features corresponding to the exemplary embodiments. However, each of the constituent features is not restricted to the exemplary embodiments defined by the designation and / or the reference symbol. Further features relating to the above-mentioned one or more aspects of the device emerge from the present description and the accompanying drawings. Problems, configurations and effects other than those described above will be apparent from the following description of the embodiments.

Figure list

• 1 ein schematisches Konfigurationsdiagramm eines Parkassistenzgeräts für ein Fahrzeug gemäß einem Ausführungsbeispiel.
• 2 ein Diagramm zur Darstellung eines Bildschirms (Assistenzmodus-Bildschirm) eines in 1 gezeigten Bedienfelds, wenn ein Anzeigemodus des Bedienfelds ein Parkassistenzmodus ist.
• 3 ein Diagramm zur Darstellung eines Zustands, in dem ein Bild der Draufsicht und ein Bild der Fahrtrichtung auf dem in 2 dargestellten Assistenzmodus-Bildschirm angezeigt werden.
• 4 ein Flussdiagramm zur Darstellung einer „existierenden Assistenz-Startroutine“ (engl.: „exist-assist start routine“), die von einer CPU einer Parkassistenz-ECU in dem Ausführungsbeispiel ausgeführt wird.
• 5 ein Flussdiagramm zur Darstellung einer „Parkassistenzsteuerung-Ausführungsroutine“, die von der CPU der Parkassistenz-ECU in dem Ausführungsbeispiel ausgeführt wird.
• 6 ein Flussdiagramm zur Darstellung einer „Parkassistenzsteuerungs-Pausenroutine“, die von einer CPU einer Parkassistenz-ECU in dem Ausführungsbeispiel ausgeführt wird.
• 7 ein Flussdiagramm zur Darstellung einer „Parkassistenzsteuerungs-Beendigungsroutine“, die von einer CPU einer Parkassistenz-ECU in dem Ausführungsbeispiel ausgeführt wird.
• 8 ein Diagramm zur Darstellung einer Situation, in der das Fahrzeug aus einem Zustand, in dem das Fahrzeug durch Parallelparken in der Fahrbahn geparkt ist, durch die Parkassistenzsteuerung auf eine Fahrbahn gebracht wird.
• 9 ein Diagramm zur Darstellung einer Situation, in der ein Fahrer ein Gaspedal bedient, nachdem die Parkassistenzsteuerung in der Situation von 8 gestartet wird und bevor das Fahrzeug eine Zielposition erreicht hat.
• 10 ein Diagramm zur Darstellung einer Nachricht, die auf dem Assistenzmodus-Bildschirm in der Situation von 9 angezeigt wird.
• 11 ein Diagramm zur Darstellung einer Nachricht und einer Taste, die auf dem Assistenzmodus-Bildschirm in der Situation von 9 angezeigt werden.
• 12 ein Diagramm zur Darstellung einer Nachricht, die auf dem Assistenzmodus-Bildschirm in der Situation von 9 angezeigt wird.
• 13 ein Diagramm zur Darstellung einer Nachricht, die auf dem Assistenzmodus-Bildschirm in der Situation von 9 angezeigt wird.
• 14 ein Diagramm zur Darstellung einer Situation, in der das Fahrzeug die Zielposition erreicht hat, nachdem in der Situation von 8 die Parkassistenzsteuerung gestartet wird.
• 15 ein Diagramm zur Darstellung einer Nachricht, die auf dem Assistenzmodus-Bildschirm in der Situation von 14 angezeigt wird.
• 16 ein Diagramm zur Darstellung einer Nachricht, die auf dem Assistenzmodus-Bildschirm in der Situation von 14 angezeigt wird.
• 17 ein Diagramm zur Darstellung einer Nachricht, die auf dem Assistenzmodus-Bildschirm in der Situation von 14 angezeigt wird.

Show it:

• 1 a schematic configuration diagram of a parking assistance device for a vehicle according to an embodiment.
• 2 a diagram showing a screen (assistance mode screen) of an in 1 control panel shown when a display mode of the control panel is a parking assist mode.
• 3 FIG. 12 is a diagram showing a state in which an image of the plan view and an image of the traveling direction on the in FIG 2 assistance mode screen shown.
• 4th a flowchart for illustrating an “existing assistance start routine” which is executed by a CPU of a parking assistance ECU in the exemplary embodiment.
• 5 is a flowchart showing a “parking assist control execution routine” executed by the CPU of the parking assist ECU in the embodiment.
• 6th is a flowchart showing a “parking assist control pause routine” executed by a CPU of a parking assist ECU in the embodiment.
• 7th FIG. 12 is a flowchart showing a “parking assist control termination routine” executed by a CPU of a parking assist ECU in the embodiment.
• 8th Fig. 13 is a diagram showing a situation in which the vehicle is brought onto a lane by the parking assist controller from a state in which the vehicle is parked in the lane by parallel parking.
• 9 FIG. 4 is a diagram showing a situation in which a driver operates an accelerator pedal after the parking assist control in the situation of FIG 8th is started and before the vehicle has reached a target position.
• 10 a diagram showing a message displayed on the assistance mode screen in the situation of 9 is shown.
• 11 FIG. 13 is a diagram showing a message and a key displayed on the assistance mode screen in the situation of FIG 9 are displayed.
• 12 a diagram showing a message displayed on the assistance mode screen in the situation of 9 is shown.
• 13 a diagram showing a message displayed on the assistance mode screen in the situation of 9 is shown.
• 14th a diagram to show a situation in which the vehicle has reached the target position after in the situation of 8th the parking assistance control is started.
• 15th a diagram showing a message displayed on the assistance mode screen in the situation of 14th is shown.
• 16 a diagram showing a message displayed on the assistance mode screen in the situation of 14th is shown.
• 17th a diagram showing a message displayed on the assistance mode screen in the situation of 14th is shown.

Description of the exemplary embodiments

A description will now be given of an embodiment of the present disclosure with reference to the accompanying drawings.

A parking assistance device according to an exemplary embodiment is applied to a vehicle. In the following, a vehicle equipped with the parking assistance device can be referred to as “own vehicle” in order to distinguish the vehicle from other vehicles.

As in 1 As shown, the parking assist device includes a parking assist ECU 10 a. The parking assistance ECU 10 includes a microcomputer with a central processing unit (CPU) 10a , a random access memory (RAM) 10b , a read-only memory (ROM) 10c , an interface (I / F) 10d and other components. The ECU stands for this "electrical control unit". The ECU includes a microcomputer having a CPU, RAM, ROM, interface, and other components. The CPU is arranged to execute instructions stored in ROM to implement various functions.

The parking assistance ECU 10 is via a control device area network (CAN) 90 with an engine ECU 20th connected to a brake ECU 30th , a shift-by-wire ECU (SBW-ECU) 40 , an electric power steering ECU (hereinafter referred to as “EPS-ECU”) 50, and a navigation device ECU 6th . These ECUs are connected to one another in such a way that the CAN 90 Information can be sent and received from and to one another. Therefore, a detection signal (detection value) from a sensor connected to a specific ECU is also transmitted to the other ECUs.

The engine-ECU 20th is with engine condition amount sensors and an engine actuator 22nd connected. The engine state amount sensors include a sensor for accelerator operation 21st . The sensor for the accelerator pedal operation 21st is set up to set an operating amount (also referred to as “accelerator opening”) AP of an accelerator pedal 21a and to generate an output signal indicating the operation amount AP.

The engine-ECU 20th controls the motor actuator 22nd based on the accelerator operation amount AP and driving condition amounts (including an engine speed) detected by the other engine condition amount sensors. The engine-ECU 20th is capable of one from an internal combustion engine 23 Torque to be generated by controlling the motor actuator 22nd to change. That from the internal combustion engine 23 generated torque is via a gear 24 transferred to the drive wheels. Thus, the engine ECU 20th capable of a driving force of the vehicle by controlling the engine actuator 22nd to control.

When the vehicle is a hybrid vehicle, it is the engine-ECU 20th able to control a driving force of the vehicle generated by one or both of "internal combustion engine and an engine" serving as driving sources of the vehicle. When the vehicle is an electric vehicle, it is the engine-ECU 20th capable of controlling a driving force of the vehicle generated by a motor serving as a vehicle driving source.

The brake ECU 30th is connected to a hydraulic circuit 31 connected. The hydraulic circuit 31 includes a reservoir (not shown), an oil pump (not shown), various valve devices (not shown) and the like, and functions as a brake actuator. The hydraulic circuit 31 is between a master cylinder 33 for pressurizing the hydraulic oil by the pressure of a brake pedal 34 and a friction braking mechanism 32 arranged. The hydraulic circuit 31 provides one of a wheel cylinder (not shown) in the friction brake mechanism 32 supplied hydraulic pressure in accordance with one from the brake ECU 30th command sent to thereby control a brake pressure of the wheel cylinder. The wheel cylinder generates frictional braking force on each wheel by the brake pressure. Thus, the brake ECU 30th able to apply a braking force to the vehicle by controlling the hydraulic circuit 31 to control.

The SBW-ECU 40 is with a shift lever sensor 41 and a SBW actuator 42 connected. The gear shift sensor 41 is set up to recognize the position of a shift lever. The SBW-ECU 40 is set up to receive information about the position of the shift lever and the SBW actuator 42 controls based on the shift lever position. The SBW actuator 42 controls a switching mechanism for the circuit 43 in accordance with one of the SBW-ECU 40 sent command to switch a shift position of the transmission 24 to one of a number of switching positions.

In the present example, the plurality of switching positions includes at least one parking position, one neutral position, one forward travel position and one reverse travel position. The parking position is a position where the driving force is not transmitted to the drive wheels and the vehicle is mechanically locked in a stop position. The neutral position is a position where the driving force is not transmitted to the drive wheels and the vehicle is not mechanically locked in a stop position. The forward running position is a position in which the driving force for driving the vehicle forward is transmitted to the drive wheels. The reverse position is a position in which the driving force for reversing the vehicle is transmitted to the drive wheels.

More specifically, when the position of the shift lever is “P”, the SBW-ECU drives 40 the SBW actuator 42 to the switching mechanism for the circuit 43 so control that the shift position of the transmission 24 is switched to the park position. When the shift lever position is “N”, the SBW-ECU is driving 40 the SBW actuator 42 to the switching mechanism for the circuit 43 so control that the shift position of the transmission 24 is switched to the neutral position. When the position of the shift lever is “D”, the SBW-ECU is driving 40 the SBW actuator 42 to the switching mechanism for the circuit 43 so control that the shift position of the transmission 24 is switched to the forward travel position. When the shift lever position is “R”, the SBW-ECU is driving 40 the SBW actuator 42 to the switching mechanism for the circuit 43 so control that the shift position of the transmission 24 is switched to the reverse position.

The EPS-ECU 50 is connected to an assistance motor (M) 51. The assistance engine 51 is in a steering mechanism 52 integrated. The steering mechanism 52 is a mechanism for steering steering wheels in response to a turning movement of a steering wheel SW. The steering mechanism 52 comprises the steering wheel SW, a steering shaft US coupled to the steering wheel SW, and a gear mechanism for steering (not shown). The EPS-ECU 50 detects a steering torque input by the driver into the steering wheel SW by means of a steering torque sensor provided in the steering shaft US 53 and drives the assistance motor 51 based on the detected steering torque. The EPS-ECU 50 turns via the drive of the assistance motor 51 a steering torque (steering assist torque) on the steering mechanism 52 to support the driver's steering process.

When the EPS-ECU 50 a steering command from the parking assist ECU while executing the parking assist control described below 10 via the CAN 90 receives, drives the EPS-ECU 50 the assistance engine 51 based on a steering torque identified by the steering command. This steering torque is different from the aforementioned steering assist torque, and is a torque generated in response to the steering command from the parking assist ECU 10 on the steering mechanism 52 is applied without a steering movement of the driver is required. With this torque, an angle (namely the steering angle) of the steered wheels of the vehicle is changed.

The navigation device ECU 60 is with a GPS receiver 61 connected, which is set up so that it receives a GPS signal to determine the "latitude and longitude" of a place where the vehicle is positioned, and with a map database 62 that stores map information and a control panel 63 . The control panel 63 is a touch screen type and can display a map, picture, and the like. The navigation device ECU 60 performs various arithmetic processing based on the latitude and longitude of the place where the vehicle is positioned, map information and the like, and displays on the control panel 63 the position of the vehicle on the map. A display mode at the time when the “map and the position of the vehicle on the map” on the control panel 63 is hereinafter referred to as “Navigation mode”.

The display mode of the control panel 63 In addition to the navigation mode, it also includes a parking assistance mode. The parking assist mode is a display mode at the time of parking the vehicle in a parking lot or leaving the parking lot, and is a display mode in which various images of a peripheral condition of the vehicle are displayed as described below. When an assistance request is generated as described below, the display mode is switched from the navigation mode to the parking assistance mode.

The parking assistance ECU 10 is with vehicle peripheral sensors 70 connected. The vehicle peripheral sensors 70 are set up to obtain vehicle peripheral information. Vehicle peripheral information includes information about three-dimensional objects located in the peripheral area of the vehicle and information about boundary lines drawn on a road surface in the peripheral area of the vehicle. The three-dimensional objects include, for example, moving objects such as pedestrians, two-wheeled vehicles, four-wheeled vehicles and the like, and motionless objects such as guardrails, fences and the like. The three-dimensional object is simply referred to as “object” hereinafter. The vehicle peripheral sensors 70 contain a variety of radar sensors 71 , a variety of ultrasonic sensors 72 , and a variety of cameras 73 .

The vehicle peripheral sensors 70 can be collectively referred to as an “information acquisition device that is configured to acquire the vehicle peripheral information”. In addition, the vehicle does not necessarily have to have all radar sensors 71 , Ultrasonic sensors 72 and cameras 73 as vehicle peripheral sensors, but must contain at least one type of radar sensor 71 , Ultrasonic sensors 72 and cameras 73 contain.

Any of the radar sensors 71 contains a radar transmitter / receiver (radar transmitting / receiving part) (not shown) and a signal processing device (not shown). The radar transmitter / receiver emits a radio wave in a millimeter wave range (hereinafter referred to as a “millimeter wave”) to the peripheral area of the vehicle, and receives a millimeter wave (that is, a reflected wave) generated by an object in a radiation area (three-dimensional object) is reflected. The signal processing device detects first object information based, for example, on a phase difference between the transmitted millimeter wave and the received reflected wave, an attenuation level of the reflected wave and a time span that is required from the transmission of the millimeter wave to the reception of the reflected wave. The first object information includes, for example, a distance between the vehicle and the object, a relative speed between the vehicle and the object, and a relative position (direction) of the object with respect to the vehicle. The signal processing device outputs the first object information to the parking assistance ECU 10 out.

Any of the ultrasonic sensors 72 transmits an ultrasonic wave having a pulse shape in a predetermined area in the peripheral area of the vehicle, and receives a wave reflected from an object. The ultrasonic sensor 72 acquires second object information based on a period from the transmission of the ultrasonic wave to the reception of the ultrasonic wave. The second object information includes, for example, information about a reflection point, which is a point on an object from which the emitted ultrasonic wave was reflected, and information about the distance between the ultrasonic sensor and the object. The ultrasonic sensor 72 outputs the second object information to the parking assist ECU 10 out.

Each of the multiple cameras 73 is a digital camera that includes an image pickup device such as a charge coupled device (CCD) and a CMOS image sensor (CIS). The camera 73 outputs image data of the peripheral area of the vehicle at a predetermined frame rate. The camera 73 detects a peripheral state (including the position and shape of an object and the position and shape of a boundary line) of the vehicle to be checked when the vehicle is parked in a parking lot or driven out of the parking lot, to thereby acquire image data. The camera 73 sends the image data to the parking assistance ECU 10 out. In particular, the majority of cameras exist 73 the image data to the parking assistance ECU 10 the image data for the front, back, right and left. The front image data is image data captured by capturing a front area of the vehicle. The rear image data is image data acquired by detecting a rear portion of the vehicle. The image data for the right side is image data acquired through the acquisition of a right area of the vehicle. The left side image data is image data captured by capturing a left side portion of the vehicle.

The parking assistance ECU 10 receives the aforementioned pieces of information from each of the radar sensors 71 and the ultrasonic sensors 72 every time a predetermined time (hereinafter referred to as “first period” for convenience) has passed. The parking assistance ECU 10 represents the information (including the position of a reflection point which is a point on an object from which the millimeter wave has reflected and the position of a reflection point which is a point on an object from which the ultrasonic wave has reflected) on a two-dimensional map This two-dimensional map is a plan view in which the position of the vehicle is set as the origin, a traveling direction of the vehicle is set as the X-axis, and a left direction of the vehicle is set as the Y-axis. The “position of the vehicle” is a predetermined geometric center position of the vehicle in plan view. The parking assistance ECU 10 detects an object in the peripheral area of the vehicle based on the shape formed by a group of reflection points on the two-dimensional map, and identifies the position (distance and azimuth orientation) of the object with respect to the vehicle and the shape of the Object.

The position of the vehicle may also be another specific position on the vehicle (e.g., a center position of a left front wheel and a right front wheel in plan view or a center position of a left rear wheel and a right rear wheel in plan view).

The parking assistance ECU 10 obtains the image data from each of the cameras 73 every time the first period has passed. The parking assistance ECU 10 detects an object located in the peripheral area of the vehicle by analyzing the image data from each camera 73 , and defines the position (distance and azimuth orientation) of the object in relation to the vehicle and the shape of the object. The parking assistance ECU 10 draws the object captured based on the image data on the aforementioned two-dimensional map. This enables the parking assist ECU 10 based on the information drawn in the two-dimensional map detect objects that are in the peripheral area of the Vehicle (within a predetermined distance from the position of the vehicle).

The parking assist ECU also detects 10 an “area where the object is not located” in the peripheral area of the vehicle based on the information drawn on the two-dimensional map. If the area where an object does not exist is an area with a size and shape that allows parking (or exiting a parking lot) with enough space, the parking assist ECU determines 10 that this area is a “Parking area (area that can be driven out of)”. If boundary lines defining a parking space have been detected in the peripheral area of the vehicle, the area in which parking can be made is, for example, a rectangular area between the detected boundary lines with a long side that is a first distance greater than the length in the longitudinal direction of the Vehicle, and a short side that is a second distance longer than the length in the transverse direction of the vehicle.

The parking assistance ECU 10 is also with a vehicle speed sensor 81 connected, a parking assistance switch 82 , and a speaker 83 .

The vehicle speed sensor 81 detects a running speed of the vehicle (vehicle speed), and outputs a signal indicating the vehicle speed.

The parking assistance switch 82 is a switch that is operated (pushed / pushed down) when the driver of the parking assist ECU 10 gives the command to start the parking assist control (that is, when the driver generates an assistance request described below).

The speaker 83 generates a sound when a sound command is issued from the parking assist ECU 10 Will be received.

(Screen display)

Below is a screen on the control panel 63 (hereinafter referred to as the “assist mode screen”) at the time when the display mode is the parking assist mode. As in 2 As shown, the assistance mode screen has a first display area 201 , a second display area 202 , and a third display area 203 . The first display area 201 is an area on the left side obtained when the screen is divided into two areas, a left and a right. The second display area 202 is a part of the area on the right side obtained when the screen is divided into left and right areas as described above, and is an area on the upper side obtained when the area is on the right side is divided into two areas, an upper and a lower. The third display area 203 is an area on the lower side obtained when the above-mentioned area on the right side is divided into the upper and lower areas.

(Image generation)

When the display mode is the parking assist mode, the parking assist ECU displays 10 on the assistance mode screen, a viewpoint image and a heading image, which are described below. A method of generating the viewpoint image and the travel direction image is briefly described below.

The parking assistance ECU 10 generates an image (referred to as a “viewpoint image”) of the vehicle and the peripheral area of the vehicle viewed from a specified virtual viewing angle position based on the front image data, the rear image data, the right side image data, and the left side image data obtained from the Cameras 73 were recorded. A method of generating such a viewpoint image is already known (for example from the document JP 2012 - 217,000 A and JP 2013 - 021 468 A ). Therefore, an example of the method of generating the viewpoint image is briefly described below.

The parking assistance ECU 10 generates three-dimensional image data of the peripheral area of the vehicle based on the aforementioned parts of the image data. The parking assistance ECU 10 sets a virtual viewpoint in the three-dimensional image data. The virtual standpoint is determined by a standpoint position and a viewing direction. The parking assistance ECU 10 extracts an image from the three-dimensional image data based on the set virtual viewpoint, thereby obtaining a viewpoint image that is an image of the vehicle and the peripheral area of the vehicle. For example, the viewpoint position of the virtual viewpoint is a position which is separated from the central position in the plan view of a body of the vehicle by a predetermined distance in a straight upward direction. The viewing direction of the virtual viewpoint is a straight downward direction from the viewpoint position to the vehicle. Therefore, the viewpoint image is an image that looks down at the vehicle from a position directly above the vehicle. Such a viewpoint image is also referred to as a “top view image”.

The parking assistance ECU 10 generates an image (referred to as a “heading image”) showing the range of the heading of the vehicle based on the front image data and the rear image data. When the vehicle moves forward or is in a stop state, the parking assist ECU generates 10 a travel direction image for displaying the area in front of the vehicle based on the front image data. Meanwhile, the parking assist ECU generates 10 a travel direction image showing the area behind the vehicle based on the rear image data when the vehicle moves backward.

When the display mode is the parking assist mode, the parking assist ECU displays 10 , as in 3 illustrated, a picture of the top view 301 in the first display area 201 , and shows a direction of travel image 302 in the second display area 202 on.

(Parking assistance control)

The parking assistance ECU 10 monitors the operation with regard to the parking assistance switch 82 , the position of the shift lever, and the like, and selects an assist mode of an exit-from-parking space mode, vertical parking mode, and parallel parking mode.

For example, if the position of the shift lever is on "P" when the driver presses the parking assistance switch 82 is pressed once, the exit-from-parking-lot mode is selected as the assistance mode. When the position of the shift lever is on "D" when the driver presses the parking assistance switch 82 is pressed once, the vertical parking mode is selected as the assistance mode. When the position of the shift lever is on "D" when the driver presses the parking assistance switch 82 is pressed twice, the parallel parking mode is selected as the assistance mode.

Specifically, the exit-from-the-parking lot mode is a mode for assistance when a parked vehicle is exiting from the parking lot. In particular, the exit-from-parking lot mode is a mode for assisting in moving the parked vehicle through the “parallel parking”, which is described below, onto a lane.

The vertical parking mode is a mode for assisting in parking the vehicle by vertical parking. “Vertical parking” means parking one's own vehicle in a direction perpendicular to the direction of travel of a road on which one is traveling. Vertical parking is equivalent to moving your own vehicle in a direction parallel to other parked vehicles. More specifically, vertical parking refers to parking one's own vehicle so that one side of one's own vehicle faces a side of another vehicle (first different vehicle) and the other side of one's own vehicle faces a side of another vehicle (second different vehicle), and a longitudinal axis that passes through the center of the own vehicle in the vehicle width direction and a longitudinal axis that passes through the centers of both the first and second other vehicles in the vehicle width direction are parallel to each other. Vertical parking includes parking your vehicle in such a way that your vehicle is oriented at right angles to the direction of travel of the road you are driving on and at least one of the left and right sides of your vehicle is parallel to "a white line, a wall, a fence, a guardrail or similar ”.

The parallel parking mode is a mode for assistance when parking the vehicle by parallel parking. “Parallel parking” means parking your vehicle in a direction that is parallel to the direction of travel of the road you are driving on. Parallel parking is synonymous with parking your own vehicle in order to align yourself with other vehicles parked in the direction of travel of the street. More specifically, parallel parking refers to parking the own vehicle so that the front end area of the own vehicle is opposite to the rear end area (or the front end area) of the first other vehicle and the rear end area of the own vehicle is opposite to the front end area (or the rear end area) of the second other vehicle, and the longitudinal axis passing through the center of the own vehicle in the vehicle width direction and the longitudinal axis passing through the center of each of the first and second others Vehicles extends in the vehicle width direction, are positioned essentially on the same line.

When exit-from-parking mode is selected, the parking assist ECU 10 a target area in the area that can be driven out of. The target area is an area in which the vehicle body of the vehicle is to be located when the vehicle has finished exiting the parking lot. The parking assistance ECU 10 sets, as the target area, the position of the vehicle at the time when the vehicle finishes moving into the target area. The target area is a position that is to reach the geometric center position of the vehicle in the plan view. In the description, “moving the center position of the vehicle to the target position or to a predetermined position” will be simply “moving of the vehicle to the target position or to the predetermined position ”.

The parking assistance ECU 10 calculates a movement path on which the vehicle can be moved from the current position to the target position on the two-dimensional map. The moving path is a path on which the center position of the vehicle can be moved from the current position to the target position while a distance of a predetermined distance or longer between the vehicle body and an object (e.g., another vehicle, a curb, and a guardrail ) is maintained. The movement path can also be calculated by any of various known calculation methods (for example, a method disclosed in the publication JP 2015-3565 A was suggested).

When the vehicle cannot move to the target position by moving the vehicle forward only once, the parking assist ECU calculates 10 the movement path as follows. For example, the parking assist ECU calculates 10 a first path for moving the vehicle from the current position in the opposite direction to a travel direction shift position (i.e., a position at which the vehicle should temporarily stop in order to change the position of the shift lever from the reverse drive position (R) to the forward drive position (D) ) and a second path to advance the vehicle from the travel direction switch position to the target position.

When the parking assist ECU 10 determines the movement path, determines / sets the parking assistance ECU 10 "A direction of movement of the vehicle (in particular the shift position of the transmission 24 ), a steering angle pattern and a speed pattern "for moving the vehicle along the path of movement. In the following, information on the direction of movement of the vehicle, the steering angle pattern and the speed pattern is collectively referred to as “movement assistance information”.

The parking assistance ECU 10 transmits via the CAN 90 a shift control command to the SBW-ECU in accordance with the determined shift position 40 . When the shift control command from the parking assist ECU 10 has been received, controls the SBW-ECU 40 the SBW actuator 42 to the shift position of the transmission 42 to the position specified by the shift control command (ie, perform shift control).

The steering angle pattern (steering angle information) is data in which the center position of the vehicle on the moving path and the steering angle are related, and represents changes in the steering angle (ie, a target value of the steering angle) when the center position of the vehicle is along the moving path emotional. The parking assistance ECU 10 transmits via the CAN 90 a steering command (including a target value of the steering angle) to the EPS-ECU in accordance with the determined steering angle pattern 50 . When the steering command from the parking assist ECU 10 has been received, the EPS-ECU drives 50 the assistance engine 51 based on the steering torque predetermined by the steering command to match the actual steering angle with the target value of the steering angle (ie, to execute the steering angle control).

The speed pattern (speed information) represents data in which the center position of the vehicle on the moving path and the vehicle speed (traveling speed) are related to each other, and represents changes in the vehicle speed when the center position of the vehicle moves along the moving path. The speed pattern is set so that the vehicle speed coincides with a final target vehicle speed at a point in time when the center position of the vehicle has reached the target position. The final target vehicle speed can be zero. The parking assistance ECU 10 transmits via the CAN 90 a driving force control command to the engine ECU in accordance with the determined speed pattern 20th . When the driving force control command from the parking assist ECU 10 has been received, controls the engine-ECU 20th the motor actuator 22nd in accordance with the driving force control command (ie, executing the driving force control for controlling the driving force of the vehicle). The parking assistance ECU 10 transmits via the CAN 90 also sends a braking force control command to the brake ECU in accordance with the determined speed pattern 30th . When the braking force control command from the parking assist ECU 10 has been received, controls the brake ECU 30th the hydraulic circuit 31 in accordance with the braking force control command (ie, executes braking force control for controlling the braking force of the vehicle).

When the vertical parking mode or the parallel parking mode is selected, the parking assist ECU performs 10 the parking assistance control in the same way. That is, the parking assist ECU 10 sets the target area in an area that can be parked. In this situation, the target area is an area in which the vehicle body of the vehicle should be located when the vehicle has finished parking. The parking assistance ECU 10 represents the target position Center position of the vehicle upon completion of parking in the target area. The parking assistance ECU 10 calculates the movement path for moving the vehicle from the current position to the target position. The parking assistance ECU 10 determines / sets the movement assistance information for moving the vehicle along the movement path. Then the parking assistance ECU performs 10 in accordance with the movement assistance information, the shift control, the steering angle control, the driving force control, and the braking force control.

(Assistance request)

The parking assistance ECU 10 monitors the operation with regard to the parking assistance switch 82 , the shift position and the peripheral state as described below and determines whether an assistance request has been made / generated. The assistance request contains an exit-from-parking space assistance request, a vertical parking assistance request, and a parallel parking assistance request.

Exit-from-the-parking-assistance-request

The parking assistance ECU 10 determines that the exit-from-parking-lot assistance request has been made when all of the conditions described below are met.
(Condition A1) No request for assistance has been made.
(Condition A2) The exit-from-parking lot mode has been selected. That means that the parking assistance switch 82 has been actuated once in a situation in which the switching position corresponds to the parking position (P).
(Condition A3) The vehicle speed at the time when the condition A2 is satisfied is equal to a predetermined stop determination vehicle speed (eg, 0 km / h).
(Condition A4) An area that can be driven out has been detected. This exit area is an area on a lane next to a space where the vehicle is parked and is of a size and shape that allows the vehicle to move through the exit-from-parking mode “Move there.

Vertical parking assistance request

The parking assistance ECU 10 determines that the vertical parking assist request has been made when all of the conditions described below are met.
(Condition B1) No request for assistance has been made.
(Condition B2) The perpendicular parking mode has been selected. That means that the parking assistance switch 82 has been actuated once in a situation in which the shift position corresponds to the forward drive position (D).
(Condition B3) The vehicle speed at the time when the condition B2 is satisfied is equal to or less than a predetermined vehicle speed for the determination of the low speed (for example, 30 km / h).
(Condition B4) An area that can be parked vertically has been detected. This vertical parking area is an area adjacent to the roadway, and is of a size and shape that allows the vehicle to be parked using the vertical parking mode.

Parallel parking assistance request

The parking assistance ECU 10 determines that the parallel parking assist request has been made when all of the conditions described below are met.
(Condition C1) No request for assistance has been made.
(Condition C2) The parallel parking mode has been selected. That means that the parking assistance switch 82 has been operated twice within a predetermined time in a situation where the shift position corresponds to the forward drive position (D).
(Condition C3) The vehicle speed at the time when the condition C2 is satisfied is equal to or less than the predetermined vehicle speed for the determination of the low speed (for example, 30 km / h).
(Condition C4) An area that can be parked in parallel has been detected. This parallel parking area is an area adjacent to the lane, and is of a size and shape that allows the vehicle to be parked using the parallel parking mode.

When the exit-from-parking space assistance request has been made, the parking assistance ECU performs 10 the parking assistance control in exit-from-parking lot mode.
When the vertical parking assist request has been made, the parking assist ECU performs 10 the parking assistance control in vertical parking mode.

When the parallel parking assist request has been made, the parking assist ECU performs 10 the parking assistance control in parallel parking mode.

As described above, the parking assist ECU 10 the function of a “module for the determination of the movement assistance information 10X that is programmed to determine the movement assistance information "and as" Parking assistance module 10Y that is programmed to execute the parking assist control including shift control, steering angle control, driving force control, and braking force control in accordance with the movement assist information ”sent by the CPU 10a implemented.

(Overview of the implementation)

When the vehicle is moved from the parking lot to a lane by the parking assist controller as described above, the driver can press the accelerator pedal 21a possibly operate before the center position of the vehicle reaches the target position. In this case, since the vehicle (own vehicle) is suddenly traveling on the lane, there is a possibility that the own vehicle will approach another vehicle that is moving on the lane too closely.

In view of the above problem, the parking assist device according to the present embodiment pauses the parking assist control and stops the vehicle when the driver performs a predetermined operation (for example, the driver operates the accelerator pedal 21a) before the center position of the vehicle reaches the target position. The parking assistance device maintains (maintains) the movement assistance information while the parking assistance control is paused. Since the own vehicle is stopped in this way, it is possible to prevent the own vehicle from getting too close to another vehicle running on the lane.

Furthermore, the parking assistance device notifies (informs) the driver of a resumption operation which the driver has to carry out to resume the parking assistance control when the parking assistance control is paused. When the driver performs the resume operation, the parking assist device resumes the parking assist control in accordance with the movement assist information that has been maintained since the time when the parking assist control started to pause. In this way, even if the parking assist control is paused, the driver can resume / restart the parking assist control by performing the resume operation.

(Execution of the exit-from-the-parking-assistance-request)

Next, the description will be given of the execution performed when the parking assist control is executed in the exit-from-parking space mode. In the following, the parking assistance control in exit-from-parking space mode is simply referred to as “exit assistance”. The CPU 10a the parking assist ECU 10 (hereinafter referred to simply as "CPU") is configured to handle each of the 4th - 7th to execute the illustrated procedures every time a “predetermined second period of time equal to or longer than the first period of time” has elapsed.

The CPU also acquires the vehicle peripheral information from the vehicle peripheral sensors 70 by executing a routine (not shown) every time the first period has expired. The CPU also updates the two-dimensional map based on the vehicle peripheral information by executing a procedure (not shown) every time the first period has passed.

Also, when an ignition key switch (start switch) (not shown) of the vehicle is turned from an off position to an on position, the CPU executes an initialization process (not shown) to set values of various flags described below to “0 “(Ie to reset the values of various flags).

When it comes to a predetermined time, the CPU starts processing from step 400 from 4th and goes with step 401 away. In step 401 The CPU determines whether or not a value of an assistance request flag (hereinafter simply referred to as “request flag”) FHE is “0”. If the value of the request flag FHE is “0”, this means that no assistance request (one from the exit-from-parking space assistance request, vertical parking assistance request, and parallel parking assistance request) has been made. If the value of the request flag FHE is "1", it means that the assistance request has been made. In other words, the CPU determines whether condition A1 is met. When the value of the request flag FHE is not "0", the CPU takes step 401 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

Assuming that the value of the request flag FHE is "0", the CPU takes step 401 make a “yes” determination and go with step 402 away. In step 402 the CPU determines whether the exit-from-parking lot mode has been selected (whether condition A2 is met). If it is determined that the exit-from-parking lot mode has not been selected, the CPU takes step 402 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

The current situation is assumed to be a situation as in 8th shown. The vehicle SV is next to a curb 802 on a roadway 801 parked (that is, the vehicle SV is parked by parallel parking). The shift position of the vehicle SV is the parking position (P). In this situation, the driver presses the parking assistance switch 82 once to select exit-from-parking mode.

Thus, the CPU takes step 402 make a “yes” determination and go with step 403 to determine whether both conditions A3 and A4 are met. The conditions A3 and A4 are collectively referred to as an “execution condition for the exit assistance”. If the execution condition for the exit assistance is not fulfilled, the CPU takes step 403 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

In the situation of 8th is the vehicle SV in a stopped state (that is, the speed of the vehicle SV is 0km / h). The CPU also has an area EA in the lane 801 from which it is possible to drive out. Since the execution condition for the exit assistance is fulfilled, the CPU takes step 403 a "yes" provision. The CPU executes the processing of the steps 404 and 405 (described below) one after the other, and then go to step 406 away.

step 404 : The CPU switches the display mode of the on the control panel 63 displayed screen from navigation mode to parking assistance mode. Thus, the assistant mode screen appears on the control panel 63 displayed. step 405 : The CPU sets a target area Atgt in the detected area EA, from which it is possible to drive out. Furthermore, the CPU sets the center position of the vehicle as the target position Ptgt SV at the time when the vehicle SV has completed the move to the target area Atgt.

The CPU also calculates at step 405 a movement path MP to move the center position of the vehicle SV from the current position (start position) Pst to the target position Ptgt. The movement path MP is a path on which the vehicle body of the vehicle SV can be moved from the start position Pst to the target position Ptgt while maintaining a distance between the vehicle body and an object (e.g., another vehicle, a curb, and a guardrail) at a predetermined distance or longer. When two or more movement paths can be calculated, the CPU sets / determines a movement path among those paths as the final movement path MP has the shortest distance.

The CPU then determines at step 406 whether the motion path MP can be calculated. Depending on the situation, there may be a case where a motion path cannot be calculated. In this case the CPU takes at step 406 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process. In addition, the CPU can in the third display area 203 display a message on the assistance mode screen notifying the driver that the exit assistance cannot be performed and activate the loudspeaker 83 to output the message.

Since the CPU is the movement path MP in the situation of 8th can calculate, the CPU takes at step 406 a "yes" provision. The CPU then executes the processing of the steps 407 and 408 (described below) in sequence. Then the CPU moves with the step 495 continues, and temporarily ends the current process.

step 407 : The CPU determines the movement assistance information for moving the vehicle SV along the movement path MP . The movement assistance information contains the direction of movement of the vehicle (in particular the shift position), the steering angle pattern, and the speed pattern.
step 408 : The CPU sets the value of the request flag FHE to "1".

In addition, when it comes to a predetermined time, the CPU starts processing from step 500 from 5 , and proceeds to step 501. At step 501 the CPU determines whether the value of the request flag FHE is "1" and whether a value of a pause flag FHP is "0". If the value of the pause flag FHP is "0", it means that the parking assist control is not paused. When the value of the pause flag FHP is “1”, it means that the parking assist control is paused (temporarily stopped). When the value of the request flag FHE is "0" or the value of the pause flag FHP is "1", the CPU takes step 501 a "No" determination, goes directly to step 595 continues, and temporarily ends the current process.

On the other hand, when the value of the request flag FHE is "1" and the value of the pause flag FHP is "0", the CPU takes step 501 make a “yes” determination and go with step 502 away. At step 502 the CPU determines whether a predetermined first operation is being performed. The first operation is an operation of the accelerator pedal 21a .

If the predetermined first operation is not performed by the driver, the CPU takes step 502 a "No" determination and moves with step 503 to carry out the parking assist control in accordance with the movement assist information. In particular, the CPU transmits the Shift control command to the SBW-ECU 40 in accordance with the determined shift position to thereby execute the shift control. The CPU transmits the steering command (including the target value of the steering angle) to the EPS-ECU 50 in accordance with the steering angle pattern, to thereby carry out the steering angle control. The CPU transmits the driving force control command to the engine ECU 20th in accordance with the speed pattern, to thereby carry out the driving force control. The CPU transmits the braking force control command to the brake ECU 30th in accordance with the speed pattern, thereby executing the braking force control. Therefore, the center position of the vehicle SV without the operation of the driver (including the operation of the shift lever, the operation of the steering wheel SW, the operation of the accelerator pedal 21a , and the operation of the brake pedal 34 ) on the road 801 can be moved to the target position Ptgt. The CPU then moves with step 595 continues, and temporarily ends the current process.

If the driver is at step 503 by operating the brake pedal 34 in a situation where the parking assist control is requesting a large braking force, the CPU transmits the braking force control command to the brake ECU 30th so that the braking force is generated according to the request. In this case, the CPU transmits the driving force control command to the engine ECU 20th so that the driving force of the vehicle SV equals zero. When the driver presses the brake pedal 34 releases again in such a situation, the parking assistance control is resumed / restarted.

Meanwhile, as in 9 shown, assumed that the driver is pressing the accelerator 21a served at a time when the center position of the vehicle SV to a position P1 is moved between the start position Pst and the target position Ptgt. When the accelerator 21a is operated by the driver before the vehicle SV has reached the target position Ptgt, the CPU takes at step 502 makes a "yes" determination and completes the processing of the steps 504 to 506 (described below) in sequence. The CPU then moves with step 595 continues, and temporarily ends the current process.

step 504 : The CPU executes predetermined pause processing for pausing the parking assist control. Specifically, the CPU performs automatic stop processing to stop the vehicle SV as described below. The CPU transmits the driving force control command to the engine ECU 20th so that the driving force is set to zero regardless of the operation of the accelerator pedal 21a by the driver. Further, the CPU transmits the braking force control command to the brake ECU 30th to generate the braking force to thereby drive the vehicle SV to stop. In this way, the vehicle will stop when the vehicle is in the center position SV at the position P1 is located. Further, the CPU maintains in the RAM the movement assist information (finally, the moving direction of the vehicle, the steering angle pattern, and the speed pattern) while the parking assist control is paused.

step 505 : The CPU informs the driver that the parking assistance control is paused. As in 10 particularly shows the CPU in the third display area 203 a message on the assistant mode screen 1001 , which informs that the parking assistance control (in this case the exit assistance) is paused, and triggers the loudspeaker 83 , the message 1001 to spend.
step 506 : The CPU sets the value of the pause flag FHP to "1".

In addition, when it comes to a predetermined time, the CPU starts processing from step 600 from 6th , and goes with step 601 away. At step 601 the CPU determines whether the value of the pause flag FHP is "1". When the value of the pause flag FHP is not "1", the CPU takes step 601 a "No" determination, goes directly to step 695 continues, and temporarily ends the current process.

In the situation out 9 on the other hand, the value of the pause flag FHP is “1”. Thus, the CPU takes step 601 make a “yes” determination and go with step 602 away. At step 602 the CPU requests the driver to perform a predetermined resume operation for resuming the parking assist control. In particular, as shown in 11 shown in the second display area 202 resume button on the assistant mode screen 1101 and a cancel button 1102 on. Furthermore, the CPU shows in the third display area 203 a message on the assistant mode screen 1103 with a request to press the brake pedal 34 and the resume button 1101 press and activate the loudspeaker 83 about this, the message 1103 to spend. In this way, the CPU notifies the driver of the resume operation.

The CPU then determines at step 603 whether or not the resume operation is performed by the driver. When the driver presses the brake pedal 34 pressed and the resume button 1101 presses, the CPU takes step 603 makes a "yes" determination and completes the processing of the steps 604 and 605 (described below) in sequence. The CPU then moves with step 606 away.

step 604 : The CPU cancels the automatic stop processing that was continued from the point in time when the pause processing in step 504 the expiration of 5 is started. Thereby, after this point in time, the CPU transmits the braking force control command to the brake ECU 30th so that the braking force according to the operation of the brake pedal 34 is generated by the driver.
step 605 : The CPU asks the driver, the brake pedal 34 to release. In particular, as shown in 12 shown in the third display area 203 a message on the assistant mode screen 1201 with the request, the driver's foot off the brake pedal 34 to solve, and causes the speaker 83 , the message 1201 to spend.

The CPU then determines at step 606 whether the brake pedal 34 is released. When the brake pedal 34 is not enabled, the CPU returns to the processing of the step 605 back.

When the brake pedal 34 otherwise enabled, the CPU takes step 606 make a “yes” determination and go with step 607 to set the value of the pause flag FHP to "0". The CPU then moves with step 695 continues, and temporarily ends the current process. So the CPU takes in step 501 the expiration of 5 Make a "yes" determination in step 502 make a "No" determination and then go to step 503 away. At step 503 the CPU resumes the parking assist control in accordance with the movement assist information that has been obtained since the pause processing was started at step 504 the expiration of 5 have been held upright.

On the other hand, if the resume operation is performed at the time the CPU steps 603 continues, is not performed, the CPU takes step 603 a "No" determination and moves with step 608 away. At step 608 the CPU determines whether a predetermined termination condition is met. The abort condition is fulfilled when the abort key 1102 is pressed, or an elapsed time Etm1 since the time when the resume operation in step 602 is requested for the first time, becomes equal to or longer than a predetermined first time threshold value Tm1. If the abort condition is not met, the CPU takes step 608 Make a "No" determination and return to Step 602 back.

If the abort condition is met, the CPU takes step 608 makes a "yes" determination and completes the processing of the steps 609 to 611 (described below) in sequence. The CPU then moves with step 695 continues, and temporarily ends the current process.

step 609 : The CPU cancels the automatic stop processing that was continued from the point in time when the pause processing in step 504 the expiration of 5 is started. Thereby, after this point in time, the CPU transmits the driving force control command to the engine ECU 20th so that the driving force according to the operation of the accelerator pedal 34 is generated by the driver. Further, the CPU transmits the braking force control command to the brake ECU 30th so that the braking force according to the operation of the brake pedal 34 is generated by the driver.

step 610 : The CPU executes predetermined termination processing. Specifically, the CPU deletes / removes the movement assistance information from the RAM since the pause processing started at step 504 the expiration of 5 have been held upright. As in 13 also shows the CPU in the third display area 203 a message on the assistant mode screen 1301 with the notification that the exit assistance (parking assistance control in exit-from-parking space mode) is ended, and initiates the loudspeaker 83 about this, the message 1301 to spend.
step 611 : The CPU sets the value of the request flag FHE to "0" and sets the value of the pause flag FHP to "0".
If the CPU then expires 5 by step 500 at starts again and with step 501 continues, the CPU makes a “No” determination and goes directly to step 595 away. This ends the parking assistance control.

When it comes to a predetermined time, the CPU starts processing from step 700 from 7th , and goes with step 701 away. At step 701 the CPU determines whether the value of the request flag FHE is "1" and whether the value of the pause flag FHP is "0". When the value of the request flag FHE is "0" or the value of the pause flag FHP is "1", the CPU takes step 701 a "No" determination, goes directly to step 795 continues, and temporarily ends the current process.

On the other hand, when the value of the request flag FHE is "1" and the value of the pause flag FHP is "0", the CPU takes step 701 make a “yes” determination and go with step 702 away. At step 702 the CPU determines whether the center position of the vehicle is SV has reached the target position Ptgt. When the center position of the vehicle SV has not yet reached the target position Ptgt, the CPU takes step 702 a "No" determination, goes directly to step 795 continues, and temporarily ends the current process.

It is assumed that the center position of the vehicle SV the target position Ptgt reached has, as in 14th shown. In this case the CPU takes at step 702 makes a "yes" determination and completes the processing of the steps 703 and 704 (described below) in sequence. The CPU then moves with step 705 away.

step 703 : As in 15th shows the CPU in the third display area 203 a message on the assistant mode screen 1501 with the notification that the vehicle has reached the target position and activates the loudspeaker 83 , the message 1501 to spend.
step 704 : The CPU asks the driver to perform a second operation to end the parking assistance control. The second operation is the operation of the accelerator pedal 21a or operating the brake pedal 34 . As in 16 shows the CPU in the third display area 203 a message on the assistant mode screen 1601 with the request to the accelerator 21a or the brake pedal 34 press and activate the loudspeaker 83 , the message 1601 to spend.

The CPU then determines in step 705 whether the second operation is carried out by the driver. When the second operation is performed, the CPU takes step 705 makes a "yes" determination and completes the processing of the steps 707 and 708 (described below) in sequence. The CPU then moves directly to step 795 continues, and temporarily ends the current process.

step 707 : The CPU executes predetermined termination processing. The CPU deletes / removes the movement assistance information from the RAM. As in 17th also shows the CPU in the third display area 203 a message on the assistant mode screen 1701 with the notification that the exit assistance (parking assistance control in the exit-from-parking lot mode) has ended, and initiates the loudspeaker 83 about this, the message 1701 to spend.
step 708 : The CPU sets the value of the request flag FHE to "0".
If the CPU then expires 5 by step 500 at starts again and with step 501 continues, the CPU makes a “No” determination and goes directly to step 595 away. The parking assistance control is thus ended at the point in time at which the driver carries out the second operation.

If the predetermined second operation is not performed at the time the CPU switches to step 705 continues, the CPU makes a “No” determination at step 705, and proceeds to step 706 away. At step 706 the CPU determines whether a predetermined condition is met. The condition is met if an elapsed time Etm2 since the time at which the second operation in step 704 is requested for the first time, is equal to or longer than a predetermined second time threshold value Tm2. If the predetermined condition is not met, the CPU takes step 706 Make a "No" determination and return to Step 704 back.

When the predetermined condition is met, the CPU takes step 706 makes a "yes" determination and completes the processing of the steps 707 and 708 as described above. The CPU then moves with step 795 continues, and temporarily ends the current process. Thereby, the parking assist control is terminated at a point of time when the elapsed time Etm2 becomes equal to or longer than the second time threshold Tm2.

As described above, the parking assist device performs the predetermined pause processing in a period (first period) from a first point of time (step 407 ) at which the movement assistance information is determined up to a point in time immediately before the vehicle SV (ie the middle position thereof) has reached the target position Ptgt (step 702 : Yes), off when the driver does the predetermined first operation (operation of the accelerator pedal 21a) performs. The pause processing is processing for applying the braking force to the vehicle SV to the vehicle SV while the movement assistance information is maintained in the RAM.

When the driver presses the accelerator 21a operated before the vehicle SV has reached the target position Ptgt, the speed of the vehicle becomes SV elevated. Thus, there is a high probability that the vehicle will SV too close to an object (e.g. another vehicle) located in the peripheral area of the vehicle. According to the present embodiment, the parking assist device pauses (temporarily stops) the parking assist control and stops the vehicle SV in the above situation. Thereby, it is possible to prevent the vehicle from getting too close to an object (three-dimensional object) located in the peripheral area of the vehicle.

Further, after the parking assist device executes the pause processing when the predetermined resume operation is performed by the driver, the parking assist device resumes the parking assist control in accordance with the movement assist information that has been held since the start of the pause processing. Even if the parking assist control is paused, the driver can resume the parking assist control by performing the resume operation. In this case it is not necessary for the driver to some operations for selecting the exit-from-parking lot mode (for example, the operation for returning the shift position to the parking position (P), the push operation for the parking assist switch 82 , and the like) to be performed again to resume the parking assist control. In addition, it is not necessary to recalculate the movement assistance information. This can reduce the time the vehicle takes SV needed to drive out of the parking lot.

Meanwhile, by the time the pause processing for the parking assist control is started, the driver may not want to execute the parking assist control after that. In this case the driver can press the cancel button 1102 Press or wait for the first time threshold Tm1 without performing the resume operation. The parking assistance control is terminated and the driver can thereby operate the vehicle SV drive.

Further, the parking assist device ends the parking assist control in a period (second period) from when the vehicle is moved SV has reached the target position Ptgt (step 702 : Yes) until the predetermined second time threshold Tm2 has elapsed when the driver performs the predetermined second operation (operation with respect to the accelerator pedal 21a or the brake pedal 34 ) performs.

When the driver presses the accelerator 21a or the brake pedal 34 operated when and after the vehicle SV has reached the target position Ptgt, it is assumed that the driver controls the vehicle SV can drive immediately through his / her operation. According to the present embodiment, in the above situation, the parking assist device ends the parking assist control to thereby drive the vehicle SV to be handed over to the driver immediately.

(Execution of the vertical parking assistance request)

The following describes the operations to be performed when the parking assist control is performed in the vertical parking mode.
In the following, the parking assistance control in the vertical parking mode is simply referred to as “vertical parking assistance”. The vertical parking assistance is similar to the exit assistance, except that the area (target area) into which the vehicle should ultimately be moved is different. Therefore, the processes of the 4th to 7th can be applied to the vertical parking assistance. The processes of the 4th to 7th differ from the case of exit assistance in the following points. The description below mainly focuses on the differences.

When the CPU is processing the step 400 from 4th starts and with step 402 continues, the CPU determines whether the vertical parking mode has been selected (whether condition B2 is met). If it is determined that the vertical parking mode has not been selected, the CPU takes step 402 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

Assuming that the vertical parking mode has been selected, the CPU takes step 402 make a “yes” determination and go with step 403 to determine whether both conditions B3 and B4 are met. The conditions B3 and B4 are collectively referred to as an “execution condition for the vertical parking assistance”. If the execution condition for the vertical parking assist is not met, the CPU takes step 403 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

When the execution condition for the vertical parking assist is met, the CPU takes step 403 makes a "yes" determination and the CPU performs processing between steps 404 to 408 in suitable steps as described above.

When the CPU is processing step 700 from 7th starts and with step 704 continues, the CPU requests the driver to perform the predetermined second operation for ending the parking assist control. The second operation here is the operation of the brake pedal 34 . The CPU shows in the third display area 203 the assistance mode screen displays a message requesting the brake pedal 34 to press and activate the loudspeaker 83 to output the message. The CPU then performs processing between the steps 705 to 708 in suitable steps as described above.

(Execution of the parallel parking assistance request)

Then, the operations to be performed when the parking assist control is performed in the parallel parking mode will be described. In the following, the parking assistance control in parallel parking mode is simply referred to as “parallel parking assistance”. The parallel parking assistant is similar to the exit assistant, except that the area (target area) into which the vehicle is ultimately to be moved is differs. Therefore, the processes of the 4th to 7th can be used for parallel parking assistance. The processes of the 4th to 7th differ from the case of exit assistance in the following points. The description below mainly focuses on the differences.

When the CPU is processing step 400 from 4th starts and with step 402 continues, the CPU determines whether the parallel parking mode has been selected (whether condition C2 is met). If it is determined that the parallel parking mode has not been selected, the CPU takes step 402 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

Assuming that the parallel parking mode has been selected, the CPU takes step 402 make a “yes” determination and go with step 403 to determine whether both conditions C3 and C4 are met. The conditions C3 and C4 are collectively referred to as an “execution condition for the parallel parking assistance”. If the execution condition for parallel parking assistance is not met, the CPU takes step 403 a "No" determination, goes directly to step 495 continues, and temporarily ends the current process.

If the execution condition for parallel parking assist is met, the CPU takes step 403 makes a "yes" determination and the CPU performs processing between steps 404 to 408 in suitable steps as described above.

When the CPU is processing step 700 from 7th starts and with step 704 continues, the CPU requests the driver to perform the predetermined second operation for ending the parking assist control. The second operation here is the operation of the brake pedal 34 . The CPU shows in the third display area 203 the assistance mode screen displays a message requesting the brake pedal 34 to press and activate the loudspeaker 83 to output the message. The CPU then performs processing between the steps 705 to 708 in suitable steps as described above.

As described above, the parking assist device can pause or terminate the parking assist control in response to the driver's operation when executing the perpendicular parking assist or the parallel parking assist.

The present disclosure is not limited to the embodiment described above, and various change examples can be adopted within the scope of the present disclosure.

(Modification example 1)

The first operation (win step 502 ) is not limited to the above example. In one or more exemplary embodiments, the first operation can also include an operation of the steering wheel SW. During the execution of the parking assist control, the CPU of the parking assist ECU monitors 10 for example based on the signal from the steering torque sensor 53 whether the driver inputs a steering torque into the steering wheel SW. If the CPU in step 502 the expiration of 5 determines that the driver inputs steering torque to the steering wheel SW, the CPU may determine that the first operation is performed. In one or more exemplary embodiments, the second operation (see steps 704 and 705 ) contain an operation of the steering wheel SW.

(Modification example 2)

The resume operation (see steps 602 and 603 ) is not limited to the above example. In one or more embodiments, the resume operation may be any operation other than depressing the brake pedal 34 and pressing the resume button 1101 be. In one or more embodiments, the resume button is 1101 not on the one on the control panel 63 displayed button, and may also be a button or a switch provided in the vicinity of the steering wheel SW. In one or more exemplary embodiments, the parking assistance switch 82 contain the function of the resume button.

(Modification example 3)

The parking assist control may be another control as long as it includes at least the steering angle control, the driving force control, and the braking force control. In one or more exemplary embodiments, the parking assistance control can also not contain a shift control. When the parking assist control does not include shift control, the CPU informs the parking assist ECU 10 after the step 407 the expiration of 4th the driver via the direction of movement of the vehicle (in particular via the shift position of the transmission 24 ) through the Assistance Mode screen on the control panel 63 and / or through the loudspeaker 83 . If the driver operates the shift lever so that the shift position corresponds to the informed shift position, the CPU moves along step 408 to set the value of the request flag FHE to "1". The CPU then executes the parking assistance control in the sequence of 5 out.

(Modification example 4)

The parking assistance switch 82 only needs to be a switch that can be operated when the driver requests the parking / drive-out assistance to generate a signal that represents the request. In one or more exemplary embodiments, the switch for the parking assistance can be a device which is set up in such a way that it recognizes a request from the parking / driving assistance by the driver by means of a voice recognition device.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• JP 2018140757 [0002]
• JP 2012217000 A [0051]
• JP 2013021468 A [0051]
• JP 2015003565 A [0061]

Claims (4)

Parking assistance device for a vehicle with: an information acquisition device (70, 71, 72, 73) configured to acquire information on a vehicle periphery including information on an object present in a peripheral area of the vehicle; a module for determining the movement assistance information (10X), which is set up when an assistance request is generated, set a target position (Ptgt) which is a vehicle position at a point in time when the vehicle has completed parking in a parking lot or exiting the parking lot based on the vehicle periphery information, set as the movement path (MP) a path on which the vehicle can move from a current vehicle position to the target position, and determine the movement assistance information including the steering angle information representing a change in the vehicle steering angle when the vehicle moves along the moving path and speed information representing a change in the vehicle speed when the vehicle moves along the moving path; and a parking assist module (10Y) configured to perform the parking assist control so that the vehicle moves in accordance with the determined movement assist information, the parking assist controller a steering angle control for changing the vehicle steering angle, a driving force control for controlling a driving force of the vehicle, and includes a braking force controller for controlling a braking force of the vehicle, wherein the parking assistance module is further set up so that when an occupant carries out a predetermined first operation that is different in relation to a brake pedal in a first time period, applies the braking force to the vehicle to stop the vehicle, and executes pause processing for maintaining the movement assistance information, wherein the first time period is a time period from a first point in time at which the movement assistance information is determined to a second point in time immediately before the vehicle reaches the target position. Parking assistance device according to Claim 1 , wherein the parking assistance module is configured to notify the occupant of a predetermined resume operation that the occupant must perform to resume the parking assistance control when the pause processing is being performed, the parking assistance module being configured to perform the parking assistance control in accordance with the movement assistance information that have been maintained since the start of the pause processing, to resume when the occupant performs the resume operation, and to clear the movement assistance information maintained since the start of the pause processing, and to end the parking assist control if the occupant fails to perform the resume operation within a period of time from the notification of the resume operation to for the expiration of a predetermined time threshold value (Tm1). Parking assistance device according to Claim 1 , wherein the parking assistance module is set up to end the parking assistance control at a point in time at which the occupant carries out the second operation, if the occupant is in a second time span from a point in time at which the vehicle has reached the target position until a predetermined one has expired Time (Tm2) performs a predetermined second operation, and wherein the parking assistance module is configured to end the parking assistance control at a point in time at which the second time period has expired if the occupant does not perform the second operation in the second time period. Parking assistance device according to Claim 3 , wherein the parking assistance module is configured to determine that the occupant performs the first operation when the passenger operates an accelerator pedal in the first time period, and wherein the parking assistance module is configured to determine that the passenger performs the second operation when the occupant operates the accelerator pedal or brake pedal in the second time period.

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